CN109261547B - Material sorting method and device - Google Patents
Material sorting method and device Download PDFInfo
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- CN109261547B CN109261547B CN201811216825.1A CN201811216825A CN109261547B CN 109261547 B CN109261547 B CN 109261547B CN 201811216825 A CN201811216825 A CN 201811216825A CN 109261547 B CN109261547 B CN 109261547B
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- scanning mirror
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
Abstract
The invention relates to the technical field of material sorting, in particular to a material sorting method and a material sorting device, wherein the method and the device are applied to a material sorting system, the material sorting system comprises a conveyor belt, a scanning mirror upper computer and a spectrograph, the conveyor belt is used for conveying materials, each mirror surface of the scanning mirror is provided with a bulge with a preset bulge degree, the materials are illuminated by an external light source to emit diffuse reflection light, the diffuse reflection light is projected to the bulge of the scanning mirror and is reflected to a detector arranged in the spectrograph through the bulge, and the materials are analyzed by the upper computer. Further, the method comprises: and receiving a spectrum signal formed by the reflection of the bulge, judging whether the spectrum signal is abnormal or not, if so, determining the rotation angle of the scanning mirror according to the spectrum signal by the upper computer, and further determining the material position in a mapping table of a preset rotation angle and the material position according to the rotation angle so as to reject the material at the material position.
Description
Technical Field
The invention relates to the technical field of material sorting, in particular to a material sorting method and device.
Background
With the great application of color sorters in the grain and oil industry, the color sorter industry in China develops more and more mature, the variety specifications are more and more, the sorting application range is wider and wider from the initial sorting of rice and coarse cereals to the current plastic sorting, and from the chromaticity, color difference and shape sorting to the current spectrum sorting.
In the plastic sorting industry, the types of plastics are hundreds of plastics, most of plastics are grey white or semitransparent, the traditional color sorting is difficult to apply to the plastic sorting, through research and analysis on plastic spectra, in a near infrared band (900-2500nm), the spectrum difference of different types of plastics is obvious, so the sorting of plastics can be completed by identifying the near infrared spectrum of plastics, because a spectrometer identifies materials through an optical fiber port, the diameter of general optical fibers is in millimeter or even micron level, the numerical aperture is generally between 0 and 2, the detection range is narrow, the detection of the materials of the width of a whole conveyor belt is difficult to meet, the mainstream solution at present is that a multi-surface rotating scanning mirror is arranged at the front end of the optical fiber, the scanning mirror rotates, and the optical fiber can receive diffuse reflection light of the materials in the scanning area of the scanning mirror through specular reflection, and then transmit for the spectrum appearance, realize the material discernment to the material, and then accomplish and select separately.
During the rotation of the scanning mirror, the rotating angular speed of the scanning mirror is constant, but the speed of the detection point on the conveyor belt is changed, when the detection point is right under the scanning mirror, the movement speed of the detection point is slower, and when the detection point is far away from the right under the scanning mirror, the movement speed of the detection point is faster, that is, in the scanning mirror system used at present, the initial angles of the scanning mirrors are different, the distances of the detection positions corresponding to the fixed angles of the scanning mirrors are different, and through complex calculation, the moving amount of the detection position corresponding to each rotation angle can be established, but the calculated amount is large, or a group of lens groups can be added between the scanning surface and the scanning mirror to ensure that the rotation angle of the scanning mirror and the detection position are in linear relation, thereby reducing the amount of calculations, as described in the paper "overview of rotating polygonal mirrors-zhang san", however, this approach requires an additional set of lens groups.
Disclosure of Invention
The invention aims to provide a material sorting method, which can not only save the use of a lens group, but also reduce the calculation amount of determining the position of a material according to the rotation angle of a scanning mirror.
Another object of the present invention is to provide a material sorting apparatus which can not only eliminate the use of a lens group, but also reduce the amount of calculation for determining the position of a material according to the rotation angle of a scanning mirror.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a material sorting method, which is applied to a material sorting system, where the material sorting system includes a conveyor belt, a scanning mirror, an upper computer, and a spectrometer, the conveyor belt is used to convey materials, each mirror surface of the scanning mirror is provided with a protrusion with a predetermined protrusion degree, the materials are illuminated by an external light source to emit diffuse reflection light, the diffuse reflection light is projected to the protrusion of the scanning mirror, and is reflected to a detector arranged in the spectrometer by the protrusion, and the diffuse reflection light is analyzed by the upper computer; receiving a spectral signal formed by the reflection of the bulge; judging whether the spectrum signal is abnormal or not, if so, determining the rotation angle of the scanning mirror according to the spectrum signal by the upper computer; determining the position of the material in a preset mapping table of the rotation angle and the position of the material according to the rotation angle; and rejecting the materials on the determined material positions.
In a second aspect, an embodiment of the present invention further provides a material sorting apparatus, where the apparatus is applied to a material sorting system, the material sorting system includes a conveyor belt, a scanning mirror, an upper computer, and a spectrometer, the conveyor belt is used to convey materials, each mirror surface of the scanning mirror is provided with a protrusion with a predetermined protrusion degree, the materials are illuminated by an external light source to emit diffuse reflection light, the diffuse reflection light is projected to the protrusion of the scanning mirror, and is reflected to a detector arranged in the spectrometer by the protrusion, and the diffuse reflection light is analyzed by the upper computer; the receiving module is used for receiving the spectral signals formed by the reflection of the bulges; the judgment module is used for judging whether the spectrum signal is abnormal or not, and if the spectrum signal is abnormal, the upper computer determines the rotation angle of the scanning mirror according to the spectrum signal; the determining module is used for determining the position of the material in a preset mapping table of the rotation angle and the position of the material according to the rotation angle; and the removing module is used for removing the determined materials on the material position.
The material sorting method and the device are applied to a material sorting system, the material sorting system comprises a conveyor belt, a scanning mirror, an upper computer and a spectrometer, the conveyor belt is used for conveying materials, each mirror surface of the scanning mirror is provided with a bulge with a preset bulge degree, the materials are illuminated by an external light source to emit diffuse reflection light, the diffuse reflection light is projected to the bulge of the scanning mirror and is reflected to a detector arranged in the spectrometer through the bulge, and the diffuse reflection light is analyzed by the upper computer. Further, the method comprises: and receiving a spectrum signal formed by the reflection of the bulge, judging whether the spectrum signal is abnormal or not, if so, determining the rotation angle of the scanning mirror according to the spectrum signal by the upper computer, and further determining the material position in a mapping table of a preset rotation angle and the material position according to the rotation angle so as to reject the material at the material position. Therefore, according to the scheme, the bulges are arranged on the scanning mirror, so that light reflected by the material is directly projected into the detector for analysis after being processed, the arrangement of the lens group is reduced, meanwhile, the position of the material is determined in time when the material is abnormal according to the corresponding relation between the rotation angle of the scanning mirror determined in advance and the position of the material, and the complex calculated amount is reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram illustrating a material sorting system according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart illustrating a material sorting method according to an embodiment of the present invention.
Fig. 3 shows a schematic diagram of experimental data provided by an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating functional modules of a material sorting apparatus according to an embodiment of the present invention.
The figure is as follows: 10-a material sorting system; 210-a conveyor belt; 220-a scanning mirror; 221-a bump; 230-a spectrometer; 240-material; 100-a material sorting device; 110-a receiving module; 120-a judgment module; 130-a determination module; 140-culling module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In the plastic sorting industry, different types of plastics have obvious spectrum difference in a near infrared band, so that light reflected by the plastics can be identified through a spectrometer to control the quality of the plastics. In its specific implementation, the scanning mirror is required to enlarge the scanning area to accomplish the identification of a wider range of plastics. However, the speed of the detection point on the conveyor belt transporting the plastic is changed, when the detection point is below the scanning mirror, the movement speed of the detection point is slow, and when the detection point is far away from the position right below the scanning mirror, the movement speed of the detection point is fast, so even if abnormal plastic is found, and the rotation angle of the scanning mirror is determined according to the spectrum signal corresponding to the plastic, the position of the abnormal plastic can be determined through a large number of complicated calculations. Or a group of lens groups are additionally added, so that the linear relation between the rotation angle of the scanning mirror and the position of the material is formed, and the calculation amount is reduced.
Therefore, the embodiment of the invention provides a material sorting method, which determines the position of an abnormal material in a simpler calculation mode under the condition of not using a lens group by improving a scanning mirror, and improves the working efficiency.
It is easy to understand that the material sorting method is not only applicable to the field of plastics, but also applicable to other fields which can analyze whether the materials are abnormal through optical means.
Referring to fig. 1, a material sorting system 10 according to an embodiment of the present invention is shown, in which the material sorting method according to the embodiment of the present invention is applied to the material sorting system 10, and the material sorting system 10 includes a conveyor belt 210, a scanning mirror 220, an upper computer, and a spectrometer 230.
The scanning mirror 220 is arranged on one side of the conveyor belt 210 and rotates at a fixed angular speed, each mirror surface of the scanning mirror 220 is provided with a protrusion, the protruding degree of the protrusion is set according to the distance between the scanning mirror 220 and the conveyor belt 210, the width of the conveyor belt 210 and the size of the material conveyed by the conveyor belt 210, and the size of the protrusion arranged on each mirror surface is consistent. The spectrometer 230 is disposed at one side of the scan mirror 220 so as to receive the light reflected by the protrusions of the scan mirror 220 and further analyze the light.
The conveyor belt 210 is used for conveying the material 240, and the material 240 is illuminated by an external light source to emit diffuse reflection light to be projected to the scanning mirror 220. The scanning mirror 220 is an octahedral scanning mirror, each mirror surface has a uniform size, and the mirror surfaces can reflect light, and further, each mirror surface of the scanning mirror 220 is provided with a protrusion 221 having a predetermined protrusion degree. Further, after the diffuse reflection light emitted by the illumination of the external light source is projected to the protrusion on the scanning mirror 220, the diffuse reflection light is reflected to a detector arranged in the spectrometer through the protrusion, so that the spectrometer analyzes whether the spectrum signal is abnormal or not.
In addition, this material sorting system 10 still includes spouts the valve system, and when the spectrum appearance judged that current spectral signal exists unusually, fixes a position the material that this spectral signal corresponds through the host computer to control spouts the valve system and spouts the gas injection to the position at this material place, in order to reject the material that appears unusually, realizes the sorting to the material.
Fig. 2 is a schematic flow chart of a material sorting method according to an embodiment of the present invention, including:
step S110, receiving the spectrum signal formed by the convex reflection.
That is, the spectrometer receives light reflected by the projection of the scanning mirror 220 through the fiber port to obtain a spectral signal.
And S120, judging whether the spectrum signal is abnormal or not, and if so, determining the rotation angle of the scanning mirror by the upper computer according to the spectrum signal.
Specifically, for plastics, spectra of different types of plastics are obviously different in a near infrared band (900-2500nm), so that whether the spectral signal is abnormal or not can be judged by identifying the near infrared band of the spectral signal, and if the spectral signal is abnormal, the rotation angle of the scanning mirror 220 under the spectral signal is determined. It will be readily appreciated that other materials may be identified by identifying other portions of the spectral signature to determine if an anomaly exists.
And S130, determining the position of the material in a preset mapping table of the rotation angle and the position of the material according to the rotation angle.
Specifically, the determination method of the preset mapping table of the rotation angle and the material position is as follows: during actual transportation, the materials 240 are regularly arranged on the conveyor belt 210, and if the materials 240 can be sequentially arranged according to the width of the conveyor belt 210, it is easy to understand that each material 240 is irradiated by an external light source to emit diffuse reflection light, so that the spectrometer can judge whether the current material is abnormal according to the light. Therefore, the width of the conveyor belt 210 is divided into a plurality of width ranges according to the size of the placed material 240, the rotating angle of the scanning mirror 220 in each width range is determined according to the distance between the scanning mirror 220 and the conveyor belt 210, and each width range is used for placing one material, so that a mapping table of the rotating angle of the scanning mirror 220 and the placing position of the material can be obtained.
Further, the position of the material can be determined in the mapping table according to the rotation angle of the scanning mirror 220 corresponding to the determined spectrum signal with the abnormality.
And step S140, removing the materials on the determined material positions.
Specifically, after the material position of the abnormal material is determined, the spraying valve system is controlled to spray air to the material position so as to remove the abnormal material.
According to the material sorting method provided by the embodiment of the invention, the corresponding bulges are arranged on the scanning mirror according to the distance between the scanning mirror and the conveyor belt, the size of the material and the width of the conveyor belt, and diffuse reflection light emitted by the material is processed by the bulges and then transmitted to the spectrometer, so that the arrangement of a lens group in the prior art is reduced. Meanwhile, the corresponding relation between the rotation angle of the scanning mirror and the position of the material is determined in advance, so that if abnormal materials are detected by the spectrum, the position of the material can be determined in time according to the rotation angle of the scanning mirror, and the abnormal materials are removed.
Fig. 3 is a schematic diagram of experimental data according to an embodiment of the present invention, in which the abscissa of the diagram is a rotation angle of the scanning mirror, and the ordinate of the diagram is a material position. As can be seen from the figure, when the scanning mirror surface is concave, the slope of the detected position curve becomes larger as the equal interval of the rotation angle of the scanning mirror increases, when the surface is flat, the slope of the detected position curve becomes more gradual as the equal interval of the rotation angle of the scanning mirror increases, and when the surface is convex, the slope of the detected position curve becomes almost constant as the equal interval of the rotation angle of the scanning mirror increases. Therefore, the projection is arranged on the surface of the scanning mirror, so that the rotation angle of the scanning mirror and the position of the material are in a linear relation, the position of the material can be conveniently found according to the rotation angle of the scanning mirror, and the material can be conveniently positioned.
Referring to fig. 4, a functional module diagram of a material sorting apparatus 100 according to an embodiment of the present invention is shown, the apparatus includes a receiving module 110, a determining module 120, a determining module 130, and a rejecting module 140.
And the receiving module 110 is used for receiving the spectrum signal formed by the reflection of the bulge.
In the embodiment of the present invention, step S110 may be performed by the receiving module 110.
And the judging module 120 is configured to judge whether the spectral signal is abnormal, and if so, the upper computer determines the rotation angle of the scanning mirror according to the spectral signal.
In the embodiment of the present invention, step S120 may be performed by the determining module 120.
The determining module 130 is configured to determine the material position in a preset mapping table of the rotation angle and the material position according to the rotation angle.
In the embodiment of the present invention, step S130 may be performed by the determination module 130.
And the rejecting module 140 is used for rejecting the material on the determined material position.
In the embodiment of the present invention, step S140 may be performed by the culling module 140.
Since the detailed description is already given in the material sorting method section, no further description is given here.
In summary, the method and the device for sorting materials provided by the embodiments of the present invention are applied to a material sorting system, the material sorting system includes a conveyor belt, a scanning mirror, an upper computer and a spectrometer, the conveyor belt is used for conveying materials, each mirror surface of the scanning mirror is provided with a protrusion with a predetermined protrusion degree, the materials are illuminated by an external light source to emit diffuse reflection light, the diffuse reflection light is projected to the protrusion of the scanning mirror and reflected to a detector arranged in the spectrometer through the protrusion, and the materials are analyzed by the upper computer. Further, the method comprises: and receiving a spectrum signal formed by the reflection of the bulge, judging whether the spectrum signal is abnormal or not, if so, determining the rotation angle of the scanning mirror according to the spectrum signal by the upper computer, and further determining the material position in a mapping table of a preset rotation angle and the material position according to the rotation angle so as to reject the material at the material position. Therefore, according to the scheme, the bulges are arranged on the scanning mirror, so that light reflected by the material is directly projected into the detector for analysis after being processed, the arrangement of the lens group is reduced, meanwhile, the position of the material is determined in time when the material is abnormal according to the corresponding relation between the rotation angle of the scanning mirror determined in advance and the position of the material, and the complex calculated amount is reduced.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A material sorting method is characterized in that the method is applied to a material sorting system, the material sorting system comprises a conveyor belt, a scanning mirror, an upper computer and a spectrometer, the conveyor belt is used for conveying materials, each mirror surface of the scanning mirror is provided with a bulge with a preset bulge degree, the materials are illuminated by an external light source to emit diffuse reflection light, the diffuse reflection light is projected to the bulge of the scanning mirror and is reflected to a detector arranged in the spectrometer through the bulge, and the diffuse reflection light is analyzed by the upper computer;
receiving a spectral signal corresponding to the light reflected by the bulge and formed by a detector arranged in the spectrometer;
judging whether the spectrum signal is abnormal or not, if so, determining the rotation angle of the scanning mirror according to the spectrum signal by the upper computer;
determining the position of the material in a preset mapping table of the rotation angle and the position of the material according to the rotation angle;
and rejecting the materials on the determined material positions.
2. The method of claim 1, wherein the preset mapping table of the rotation angle and the material position is determined in a manner of:
dividing the width of the conveyor belt into a plurality of width ranges according to the size of the material;
and determining the rotation angle of the scanning mirror in each width range according to the distance between the scanning mirror and the conveyor belt, wherein each width range is used for placing a material, so as to obtain a mapping table of the rotation angle and the material position.
3. The method of claim 1, wherein the degree of protrusion of the protrusions on the scan mirror is set according to the distance between the scan mirror and the conveyor belt, the width of the conveyor belt, and the size of the material, and the protrusions on the scan mirror are uniformly sized.
4. The method of claim 1, wherein the material sorting system further comprises a spray valve system,
the step of rejecting material at the determined material position comprises:
and controlling the spray valve system to spray air to the determined material on the material position so as to remove the material.
5. The method of claim 1, wherein the scan mirror is positioned on one side of the conveyor belt and rotates at a fixed angular velocity.
6. A material sorting device is characterized in that the device is applied to a material sorting system, the material sorting system comprises a conveyor belt, a scanning mirror, an upper computer and a spectrometer, the conveyor belt is used for conveying materials, each mirror surface of the scanning mirror is provided with a bulge with a preset bulge degree, the materials are illuminated by an external light source to emit diffuse reflection light, the diffuse reflection light is projected to the bulge of the scanning mirror and is reflected to a detector arranged in the spectrometer through the bulge, and the diffuse reflection light is analyzed by the upper computer;
the receiving module is used for receiving the spectral signals formed by the reflection of the bulges;
the judgment module is used for judging whether the spectrum signal is abnormal or not, and if the spectrum signal is abnormal, the upper computer determines the rotation angle of the scanning mirror according to the spectrum signal;
the determining module is used for determining the position of the material in a preset mapping table of the rotation angle and the position of the material according to the rotation angle;
and the removing module is used for removing the determined materials on the material position.
7. The apparatus of claim 6, wherein the preset mapping table of the rotation angle and the material position is determined in a manner that: dividing the width of the conveyor belt into a plurality of width ranges according to the size of the material; and determining the rotation angle of the scanning mirror in each width range according to the distance between the scanning mirror and the conveyor belt, wherein each width range is used for placing a material, so as to obtain a mapping table of the rotation angle and the material position.
8. The apparatus of claim 6, wherein the degree of protrusion of the protrusions on the scan mirror is set according to the distance between the scan mirror and the conveyor belt, the width of the conveyor belt, and the size of the material, and the protrusions on the scan mirror are uniformly sized.
9. The apparatus of claim 6, wherein the material sorting system further comprises a jet valve system, and the rejection module is further configured to control the jet valve system to jet air to the material at the determined material position to reject the material.
10. The apparatus of claim 6, wherein the scan mirror is disposed on a side of the conveyor belt and rotates at a fixed angular velocity.
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| CN201811216825.1A CN109261547B (en) | 2018-10-18 | 2018-10-18 | Material sorting method and device |
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| CN201811216825.1A CN109261547B (en) | 2018-10-18 | 2018-10-18 | Material sorting method and device |
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